動作シミュレーションに基づく家庭用サービスロボットのデジタルツインシステム
Digital Twin System for Home Service Robot Based on Motion Simulation
家庭用サービスロボットの作業能力向上のため、運動学モデルと改良粒子群最適化による逆運動学解法、および家庭内物体の機能的属性記述を用いて、物理空間からデジタル空間への幾何・物理・機能の3次元マッピングを実現するデジタルツインシステムを構築した。
著者: Zhengsong Jiang, Guohui Tian, Yongcheng Cui, Tiantian Liu, Yu Gu, Yifei Wang
分類: cs.RO
原文アブストラクト
In order to improve the task execution capability of home service robot, and to cope with the problem that purely physical robot platforms cannot sense the environment and make decisions online, a method for building digital twin system for home service robot based on motion simulation is proposed. A reliable mapping of the home service robot and its working environment from physical space to digital space is achieved in three dimensions: geometric, physical and functional. In this system, a digital space-oriented URDF file parser is designed and implemented for the automatic construction of the robot geometric model. Next, the physical model is constructed from the kinematic equations of the robot and an improved particle swarm optimization algorithm is proposed for the inverse kinematic solution. In addition, to adapt to the home environment, functional attributes are used to describe household objects, thus improving the semantic description of the digital space for the real home environment. Finally, through geometric model consistency verification, physical model validity verification and virtual-reality consistency verification, it shows that the digital twin system designed in this paper can construct the robot geometric model accurately and completely, complete the operation of household objects successfully, and the digital twin system is effective and practical.
